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- Title
ADAPTIVE FUZZY SLIDING CONTROL FOR BALANCING PENDUBOT.
- Authors
Van-Dong-Hai Nguyen; Xuan-Dung Huynh; Pham-Phu Tran; Ba-Huy Nguyen; Tien-Thanh Nguyen; Tran-Minh-Nguyet Nguyen; Thien-Van Nguyen
- Abstract
In many cases of sliding control, the exact nonlinear functions of dynamic equations are difficult to be obtained. Because of this reason, the uncertainty of nonlinear functions of system can cause bad response under sliding control. In this paper, we suggest an adaptive fuzzy sliding control method which can balance a SIMO system. This method still guarantees the stability of system by Lyapunov criteria. Otherwise, the problem of uncertainty of nonlinear system is solved. The object chosen in this paper is pendubot - a popular model in control laboratory. The success of this method is proved by simulation results.
- Subjects
ADAPTIVE fuzzy control; NONLINEAR systems; NONLINEAR functions; LYAPUNOV stability; NONLINEAR equations
- Publication
Robotica & Management, 2020, Vol 25, Issue 1, p28
- ISSN
1453-2069
- Publication type
Article